Ardupilot drifts in long coordinate turn (pixhawk 2.1)

I have been testing ardupilot (using a pixhawk 2.1) for use in GA aircraft. Today I noticed a phenomenon while performing a long coordinated turn. Initially, ardupilot indicated the correct direction of turn and bank angle. Then after ~30 seconds while still turning, ardupilot slowly indicates that the aircraft is leveling and then turning in the opposite direction. 

Can anyone provide insight on this problem or how to fix it?

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